/// <summary>
///
/// </summary>
/// <see cref="Conveyor.Monitor"/>
private void ConveyorManager()
{
while (true)
{
_conveyorWorkingManualResetEvent.WaitOne();
try
{
ConveyorIsBusy = true;
if (LatestPhone == null && Conveyor.PickBufferHasPhone)
{
if (OkToLetInNewPhone())
{
//if (ScannerOnline)
//{
// if (Scanner.ScanSuccessful == false)
// {
// throw new Exception("Scan fail, please remove phone manually.");
// }
//}
Conveyor.InposForPicking();
//Conveyor is still stop, so no new SN would enter, wrong SN would not happen.
AddNewPhone();
}
}
if (LatestPhone == null || Conveyor.PickBufferHasPhone == false || Conveyor.HasPlaceAPhone)
{
Conveyor.RunBeltPick();
}
if (LatestPhone != null && Conveyor.PickBufferHasPhone && Conveyor.HasPlaceAPhone == false)
{
Conveyor.StopBeltPick();
Delay(100);
Conveyor.ReadyForPicking();
_conveyorPickReadyManualResetEvent.Set();
_conveyorPickReadyManualResetEvent.WaitOne();
}
}
catch (Exception e)
{
OnErrorOccured(40007, "Conveyor error:" + e.Message);
_conveyorWorkingManualResetEvent.Reset();
}
finally
{
ConveyorIsBusy = false;
}
Delay(100);
}
}
/// <summary>
///
/// </summary>
/// If a new phone went into pick position, it has to be picked before
/// place a pass phone, in <see cref="ArrangePhones"/> , it serve new
/// phone before wifi phone(second priority), and new phone will only come in
/// when there is empty enough Rf box.
/// <param name="gripper"></param>
public void Place(RackGripper gripper, Phone phone = null)
{
OnInfoOccured(20026, "Try placing with " + gripper + ".");
if (Conveyor.HasPlaceAPhone == true)
{
throw new Exception("Last place movement has't finished.");
}
if (phone != null)
{
string footprint = string.Empty;
foreach (var foot in phone.TargetPositionFootprint)
{
footprint += (int)foot.TeachPos + ",";
}
OnProductionComplete(true, phone.SerialNumber, footprint, "");
}
RobotTakeControlOnConveyor();
Conveyor.StopBeltPick();
RackGripper theOtherGripper = RackGripper.None;
if (Conveyor.PickPhoneSensor())
{
if (LatestPhone != null)
{
theOtherGripper = gripper == RackGripper.One ? RackGripper.Two : RackGripper.One;
Pick(theOtherGripper, false);
}
else
{
throw new Exception("When place, has an unknown phone.");
}
}
if (Conveyor.PickPhoneSensor())
{
throw new Exception("When place, has an unknown phone in pick position.");
}
if (EcatIo.GetInput(Input.UpBlockPickForward) ||
EcatIo.GetInput(Input.UpBlockPickBackward) || EcatIo.GetInput(Input.ClampTightPick))
{
throw new Exception("When place, cylinder on conveyor is up.");
}
CheckPhoneLost(gripper);
TargetPosition placePosition = Motion.PickPosition;
if (gripper == RackGripper.Two)
{
placePosition.XPos = placePosition.XPos + 1 + Motion.PickOffset.XPos;
}
else
{
placePosition.XPos = placePosition.XPos + 1;
}
placePosition.ZPos = placePosition.ZPos + 4;
if (theOtherGripper != RackGripper.None)
{
Motion.ToPointX(placePosition.XPos);
ToPointR(placePosition, gripper);
//ToPointGripper(placePosition, gripper);
ToPointGripperOnConveyorTillEnd(placePosition, gripper);
//WaitTillEndGripper(placePosition, gripper);
Motion.WaitTillEndX();
Motion.WaitTillEnd(Motion.MotorR);
MotorYOutThenBreakMotorZDown(placePosition, gripper, false);
}
else
{
MoveToTargetPosition(gripper, placePosition, true, false);
}
OpenGripper(gripper);
if (theOtherGripper != RackGripper.None)
{
Steppers.ToPoint(theOtherGripper, Motion.PickPosition.APos);
}
MoveToPointTillEnd(Motion.MotorZ, Motion.PickPosition.ApproachHeight);
MoveToPointTillEnd(Motion.MotorY, Motion.HomePosition.YPos);
Conveyor.HasPlaceAPhone = true;
if (theOtherGripper != RackGripper.None)
{
//Steppers.ToPoint(theOtherGripper, Motion.PickPosition.APos);
Steppers.WaitTillEnd(theOtherGripper, Motion.PickPosition.APos);
}
RobotReleaseControlOnConveyor();
OnInfoOccured(20026, "Finish placing with " + gripper + ".");
}
